In one embodiment of the vehicle control device, the vehicle control method, the target trajectory calculation method, and the vehicle according to the present invention, basic trajectory coordinate data, which is at least a two-dimensional coordinate value, a trajectory curvature, and a part or all of a trajectory azimuth angle in each coordinate ranked so that the arc length increases from a certain position as an origin point, is used to calculate a target trajectory on the basis of the basic trajectory coordinate data. And a controller configured to calculate a coordinate value or a curvature offset amount for each of the basic trajectory coordinate data, calculate new target trajectory coordinate data by adding the offset amount to each of the basic trajectory coordinate data, and control the trajectory of the vehicle on the basis of the new target trajectory coordinate data. As a result, it is possible to obtain a target trajectory that achieves the same outside/inside/outside route as when a skilled driver steers.
本发明所涉及的车辆控制装置、车辆控制方法、目标轨迹算出方法及车辆在其一方式中,基于从作为原点的某个位置起以弧长变大的方式排序的各坐标中的至少二维坐标值、轨迹曲率、轨迹方位角的一部分或全部即基本轨迹坐标数据,按每个所述基本轨迹坐标数据求出坐标值或曲率的偏移量,通过对每个所述基本轨迹坐标数据加上所述偏移量,求出新的目标轨迹坐标数据,基于所述新的目标轨迹坐标数据来控制车辆的轨迹。由此,能够得到实现了与熟练驾驶员进行转向的情况相同的外内外线路的目标轨迹。
Vehicle control device, vehicle control method, target trajectory calculation method, and vehicle
车辆控制装置、车辆控制方法、目标轨迹算出方法及车辆
2023-10-27
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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